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TR-Electronic GmbH 2016, All Rights Reserved
11/20/2018
TR - ECE - BA - DGB - 0128 - 01
Page 85 of 127
3.6.1 Network management services
The
network management
(
NMT
) has the function to initialize, start, stop and monitor
nodes of a CANopen network.
NMT services are initiated by a
NMT master
, which identifies individual nodes (
NMT
slave
) about their Node-ID. A NMT message with the Node-ID 0 refers to
all
NMT
slaves.
The measuring system corresponds to a NMT slave.
3.6.1.1 NMT device control services
The NMT services for device control use the
COB-ID 0
and get thus the highest
priority.
By the data field of the CAN message only the first two bytes are used:
CCD
Node-ID
Byte 0
Byte 1
The following commands are defined:
CCD Meaning
State
-
At Power on the initialization state is entered autonomously
(1)
-
Initialization finished - enter PRE-OPERATIONAL automatically
(2)
0x01
Start Remote Node
Node is switched into the OPERATIONAL state and the normal
net-operation is started.
(3),(6)
0x02
Stop Remote Node
Node is switched into the STOPPED state and the
communication is stopped. An active connecting monitoring
remains active.
(5),(8)
0x80
Enter PRE-OPERATIONAL
Node is switched into the PRE-OPERATIONAL state. All
messages can be used, but no PDOs.
(4),(7)
0x81
Reset Node
Set values of the profile parameters of the object on default
values.
Afterwards
transition
into
the
RESET
COMMUNICATION state.
(9),(10),
(11)
0x82
Reset Communication
Node is switched into the RESET COMMUNICATION state.
Afterwards transition into the INITIALIZATION state, first state
after Power on.
(12),(13),
(14)
Table 4: NMT device control services
